CN103732173A

CN103732173A - Surgical implement and medical treatment manipulator

Info

Publication number: CN103732173A
Application number: CN201280037095.3A
Authority: CN
Inventors: 兵头亮治
Original assignee: Olympus Corp
Current assignee: Olympus Corp
Priority date: 2011-08-04
Filing date: 2012-08-03
Publication date: 2014-04-16
Anticipated expiration: 2032-08-03
Also published as: WO2013018897A1; EP2740433B1; EP2740433A1; EP2740433A4; US20130066333A1; US9161772B2; CN103732173B

Abstract

This surgical implement (1) is a surgical implement (1) that performs treatment on treatment target sites and is provided with: a long tubular member (2) with a moderately long shaft; a treatment unit (6) connected to the long member (2); and a connector (10) that detachably connects the long member (2) to the treatment unit (6). The connector (10) comprises a first rotation shaft (13) that is fixed to the long member (2) and can be connected to the treatment unit (6), and a locking unit (16) that locks the first rotation shaft (13) and the treatment unit (6).

Description

Surgical instrument and medical manipulator

Technical field

The present invention relates to surgical instrument and medical manipulator.

The application, according in No. 61/515203 opinion priority of the U.S. Patent application of on August 4th, 2011 at U. S. application, quotes its content in this article.

Background technology

In the past, as medical manipulator, the medical manipulator of master-slave mode was known, and the medical manipulator of master-slave mode has: the master manipulator being operated by operator and according to the signal sending from master manipulator, move from mechanical hand.On such medical manipulator, surgical instrument is installed, this surgical instrument has the disposal portion for disposing disposing object position by operated from a distance.

For example, in patent documentation 1, disclose and can substitute one from the medical manipulator of the arm of mechanical hand with a plurality of disposal portion that is suitable for disposing.

Prior art document

Patent documentation

Patent documentation 1: TOHKEMY 2001-277157 communique

Summary of the invention

The problem that invention will solve

Generally, in order not cause infectious disease etc., when each operation, medical manipulator is cleaned and sterilized.

In the medical manipulator of recording at patent documentation 1, because disposal portion can be with respect to from mechanical hand dismounting, thereby easily clean and the maintenance such as sterilization.Yet in order to realize the removable structure of disposal portion, component count quantitative change is many, thereby the medical manipulator of patent documentation 1 record, the complex structure of its disposal portion, the uncertain raising of cleaning.

The object of this invention is to provide can be with simple structure dismounting disposal portion and high surgical instrument and the medical manipulator of cleaning.

For the means of dealing with problems

A mode of the present invention is a kind of surgical instrument, and described surgical instrument is disposed disposing object position, it is characterized in that, described surgical instrument has: the elongated member of tubular, and it has length axle; Disposal portion, itself and described elongated member link; And linking part, it links described elongated member and described disposal portion removably, and described linking part has: first rotates axial region, and it is arranged in described elongated member; Second rotates axial region, and it is arranged in described disposal portion; The first rolling guide portion, its be arranged in described elongated member and be equipped with described first rotate the circular-arc part that axial region has center on coaxial; The second rolling guide portion, it has rolling guide portion, described rolling guide portion be arranged in described disposal portion and be equipped with described second rotate the circular-arc part that axial region has center on coaxial, this rolling guide portion contacts with described the first rolling guide portion rolling; And engaging portion, it makes described the first rotation axial region and second rotate axial region in engaging state, and described linking part rotates axial region and described second described first and rotates between axial region by dismounting.

And, can be also that described engaging portion has: main part, it is connected with described the first rotation axial region, and can engage with described the second rotation axial region; Endless member, itself and described main part split arrange, and described main part and described second is rotated to axial region and tie up; And Lock Part, it is configured in and described main part and described second is rotated to the state of tying up of the position that axial region ties up and described endless member is configured in from described main part and described second being rotated to the open state of the position of the position deviation that axial region ties up for switching described endless member.

And, also can be, described main part has groove, described groove engages with described endless member, stipulate the moving direction of described endless member, described Lock Part has a part for described groove, can relatively move with respect to described main part, groove on being arranged on described Lock Part and being arranged on when groove on described main part is connected state, can carry out described open state and described in tie up state switching, when being arranged on the groove on described Lock Part under state and being arranged on groove on described main part while being non-connected state described tying up, described in being maintained at respect to described elongated member, described disposal portion ties up state.

And, can be also that the surgical instrument of aforesaid way also has: the treatment apparatus sheet that can move, it is arranged in described disposal portion; Treatment apparatus sheet is fastener (joint) for action, and it links described elongated member and described treatment apparatus sheet; And moving-member, itself and the action of described treatment apparatus sheet link with fastener, be used for operating described treatment apparatus sheet, described treatment apparatus sheet action has with fastener: action the first rotatable parts, and itself and described moving-member link and rotate around the center of rotation of regulation; Action the second rotatable parts, itself and described action link with the first rotatable parts, this action is usingd with described second to rotate axial region coaxial or rotate axial region and compare the position close to more from described rotation axial region and, as center of rotation, rewind and carry out relative rotation with the first rotatable parts with described action with described second with the second rotatable parts; Connecting piece, it converts described action to the action of described treatment apparatus sheet with the revolving force of the second rotatable parts, the action of described treatment apparatus sheet with fastener by the dismounting in described linking part, described action with the first rotatable parts and described action with the second rotatable parts between by dismounting.

And, can be also, there is a pair of described treatment apparatus sheet, the action of described treatment apparatus sheet is the switching of described a pair for the treatment of apparatus sheet.

Another way of the present invention is a kind of medical manipulator, and described medical manipulator has: above-mentioned surgical instrument; From mechanical hand, it is provided with described surgical instrument and has at least 1 joint; And master manipulator, it sends for driving the operational order in the described described joint from mechanical hand.

The effect of invention

Surgical instrument of the present invention and medical manipulator can be with simple structure dismounting disposal portions.

Accompanying drawing explanation

Fig. 1 is the overall diagram of medical manipulator with the surgical instrument of an embodiment of the invention.

Fig. 2 is the axonometric chart that a part of structure of this surgical instrument is shown.

Fig. 3 is the key diagram that a part of structure of this surgical instrument is shown.

Fig. 4 is the key diagram that a part of structure of this surgical instrument is shown.

Fig. 5 is the key diagram that a part of structure of this surgical instrument is shown.

Fig. 6 is the exploded perspective view that the structure of the disposal portion in this surgical instrument is shown.

Fig. 7 is for the figure of flexure operation of the disposal portion of this surgical instrument is described.

Fig. 8 is for the figure of flexure operation of the disposal portion of this surgical instrument is described.

Fig. 9 is for the figure of flexure operation of the disposal portion of this surgical instrument is described.

Figure 10 is for the axonometric chart of the dismounting action of the disposal portion that this surgical instrument arranges is described.

Figure 11 is for the axonometric chart of the dismounting action of the disposal portion that this surgical instrument arranges is described.

Figure 12 is for the axonometric chart of the dismounting action of the disposal portion that this surgical instrument arranges is described.

Figure 13 is for the axonometric chart of the dismounting action of the disposal portion that this surgical instrument arranges is described.

Figure 14 is for the axonometric chart of the dismounting action of the disposal portion that this surgical instrument arranges is described.

Figure 15 is the axonometric chart of structure that another variation of this embodiment is shown.

Figure 16 is for the axonometric chart of the effect of this variation is described.

Figure 17 is the axonometric chart of structure that the variation of this embodiment is shown.

Figure 18 is the sectional view that the structure of this variation is shown.

The specific embodiment

The surgical instrument 1 of an embodiment of the invention and medical manipulator 100 are described.Fig. 1 is the overall diagram of medical manipulator with the surgical instrument of present embodiment.Fig. 2 is the axonometric chart that a part of structure of surgical instrument is shown.Fig. 3 to Fig. 5 is the key diagram that a part of structure of surgical instrument is shown.Fig. 6 is the exploded perspective view that the structure of the disposal portion in surgical instrument is shown.Fig. 7 to Fig. 9 is for the figure of flexure operation of the disposal portion of surgical instrument is described.In addition, Fig. 3 to Fig. 5 and Fig. 7 to Fig. 9 are for the schematic diagram of the structure of present embodiment is described, sometimes do not have the shape of strict corresponding component to illustrate.

Surgical instrument 1, as a part for medical manipulator 100, is arranged on medical manipulator 100.

First, the structure of the medical manipulator 100 of present embodiment is described.As shown in Figure 1, medical manipulator 100 has: master manipulator 101, control device 110 and from mechanical hand 120.

Master manipulator 101 is as being delivered to the operational movement of operator from the master device of mechanical hand 120 and playing a role, and it has: the main display part 102 of liquid crystal indicator etc. and being controlled and the operating portion 103 that operates by operator.The operation that 101 pairs of operating portions of master manipulator 103 carry out is imported into control device 110.

Control device 110 has: master control device 111, and it accepts the input from master manipulator 101; With from side control device 112, it is to from mechanical hand 120 output drive signals.

In master control device 111, according to the input from master manipulator 101, generate the operational order for making to move from mechanical hand 120, outputed to from side control device 112.

From side control device 112, according to the operational order sending from master control device 111, generate for driving the driving signal from mechanical hand 120, outputed to from mechanical hand 120.

From mechanical hand 120, have from arm 121, from arm 121, according to the driving signal since side control device 112, move, the surgical instrument 1 of present embodiment is being installed from arm 121.From mechanical hand 120, except the surgical instrument 1 of present embodiment, can also install and be used for carrying out operating treatment apparatus, endoscope apparatus etc.

Below, the structure of surgical instrument 1 is described.

Surgical instrument 1 is the medical apparatus for disposing disposing object position.As depicted in figs. 1 and 2, surgical instrument 1 has: elongated member 2, disposal portion 6, linking part 10 and drive control part 45.

Below, using a side that is provided with disposal portion 6 in surgical instrument 1 as amphi position side, a side that is provided with drive control part 45 in surgical instrument 1 is described as proximal side.

Elongated member 2 is the cartridges with length axle.Elongated member 2, according to the structure from arm 121 that becomes mounting object, can be soft, can be also rigid.In the present embodiment, elongated member 2 being shown is rigid example.

As shown in Figure 3 and Figure 7, the internal configurations in elongated member 2 is useful on the connecting rod 3(moving-member that disposal portion 6 is moved).Connecting rod 3 has: crooked with bar 4, its one end and the crooked pair fasteners 11 of using described later link, and the other end and drive control part 45 link; Use bar 5 with opening and closing, its one end and switching described later link with fastener 27, and the other end and drive control part 45 link.

Disposal portion 6 is arranged for and disposes disposing object position.In the present embodiment, as shown in Figure 2 and Figure 6, disposal portion 6 has the pliers that can carry out a pair of pliers sheet 7a, the 7b of on-off action and keep the lid 8 of pliers sheet 7a, 7b.A pair of

pliers sheet

7a, 7b link mutually by the shaft like parts 9 of the turning cylinder as each

pliers sheet

7a, 7b.

Linking part 10 connects elongated member 2 and disposal portion 6.Linking part 10 has: crooked with two fasteners 11, it is for making disposal portion 6 with respect to elongated member 2 bendings; Use fastener 27 with opening and closing, it is for making a pair of

pliers sheet

7a, 7b carry out on-off action.

Crooked have with pair fasteners 11: the first chimeric tooth portion 12, and it is fixed on the amphi position end of elongated member 2; First rotates axial region 13, itself and the amphi position end link of elongated member 2; Second rotates axial region 14, and itself and the first rotation axial region 13 extend abreast and link with disposal portion 6; The second chimeric tooth portion 15, it is fixed in disposal portion 6; With engaging portion 16, it switches disposal portion 6 for the connecting state of elongated member 2.

The tooth on the first circumference of chimeric tooth portion 12 centered by the center of rotation by the first rotation axial region 13 with gear-like.And, on the second circumference of chimeric tooth portion 15 centered by the center of rotation by the second rotation axial region 14, there is the tooth of gear-like, and with 12 engagements of the first chimeric tooth portion.On the circumference that the first chimeric tooth portion of chimeric tooth portion 12 and second 15 is equal to each other at radius, have tooth, being configured to ratio is the relation of 1 ﹕ 1.

The second chimeric tooth portion 15 can be on one side moves on one side along the circumference rotation of the first chimeric tooth portion 12.In addition, also can be provided with and utilize frictional force outer peripheral portion is contacted with each other and carry out plate-shaped member in relative rotation, replace the first chimeric tooth portion of chimeric tooth portion 12 and second 15.

In addition, in the present embodiment, illustrate and make the first chimeric tooth portion 15 of chimeric tooth portion 12 and second by the engagement of gear, carry out the structure of CONTACT WITH FRICTION, yet needn't be defined in the structure of carrying out CONTACT WITH FRICTION by the engagement of gear.For example, can adopt following mechanism: in this mechanism, as replaced the CONTACT WITH FRICTION based on gear engagement, make not have the structure etc. of 2 rubber rollers (frictional force is large) CONTACT WITH FRICTION of gear engagement of CONTACT WITH FRICTION, make mutually not slide between 2 rotary bodies and can rotary rolling.

It is all that center of rotation is at the upwardly extending axle being parallel to each other in the side of the extended line quadrature of the length axle with elongated member 2 that the first rotation axial region 13 and second rotates axial region 14.

As shown in Figure 2, engaging portion 16 has: main part 17, endless member 19 and Lock Part 21.

Main part 17 remains the distance between the first chimeric tooth portion of chimeric tooth portion 12 and second 15 necessarily.Bending in connecting rod 3 is connected with main part 17 with bar 4.By bending is done at the enterprising deactuate of advancing of lengthwise direction of elongated member 2 with bar 4, main part 17 is rotated around the first rotation axial region 13.Thus, second rotate axial region 14 and take the first rotation axial region 13 and be rotated action as center of rotation.

And, main part 17 with respect to the first rotation axial region 13, can relatively rotate and inadvisable under mode and first rotate axial region 13 and be connected.And main part 17 can become with disposal portion 6 installation direction of regulation mode with respect to main part 17 can engage with the second rotation axial region 14, and can be with respect to the second rotation axial region 14 dismounting.

On main part 17, be provided with the guiding piece 18 for the moving direction of regulation endless member 19.In the present embodiment, guiding piece 18 has the groove that extends in one direction and form on the outer surface of main part 17.The projection 20 being formed on endless member 19 enters in the groove that becomes guiding piece 18.Thus, endless member 19 moves along groove.

Endless member 19 and main part 17 split settings, rotate axial region 14 by main part 17 and second and tie up.That is, a part for main part 17 and second part of rotating axial region 14 are all inserted into the inside of endless member 19, utilize endless member 19 that main part 17 and second is rotated to axial region 14 and are bundled into one.And, on endless member 19, being formed with projection 20, projection 20 enters in the groove (guiding piece 18) being formed on main part 17.

When endless member 19 is configured in when main part 17 and second is rotated to the position that axial region 14 ties up, disposal portion 6 becomes the state (hereinafter referred to as " tying up state ") linking with elongated member 2.And, when endless member 19 is configured in when main part 17 and second being rotated to the position of the position deviation that axial region 14 ties up, become the state (hereinafter referred to as " open state ") that disposal portion 6 can be taken off from elongated member 2.

Lock Part 21 is arranged for and switches the above-mentioned state of tying up and open state.Lock Part 21 has the groove 22 that can be communicated with the groove (guiding piece 18) being formed on main part 17.The groove 22 being formed on Lock Part 21 has the function that limits the moving direction of endless member 19 as a part that is formed on the guiding piece 18 on main part 17.

Lock Part 21 can rotate around the center of rotation of the first rotation axial region 13.And when the revolving force of the center of rotation around the first rotatable parts more than regulation is when external force imposes on Lock Part 21, Lock Part 21 can the center of rotation around the first rotation axial region 13 relatively rotate with respect to main part 17.That is, operator, by making Lock Part 21 rotations that Lock Part 21 is rotated relatively with respect to main part 17, can be switched the groove 22 being formed on Lock Part 21 and the connected state that is formed on the guiding piece 18 on main part 17.In addition, do not applying under the state of the above-mentioned external force that makes Lock Part 21 rotations, Lock Part 21 moves integratedly with main part 17.

Groove on being formed on Lock Part 21 22 and when being formed on guiding piece 18 on main part 17 and being connected state, endless member 19 can move freely along being formed on the groove 22 on Lock Part 21 and the guiding piece 18 being formed on main part 17.Groove on being formed on Lock Part 21 22 and when being formed on guiding piece 18 on main part 17 and being non-connected state, endless member 19 cannot enter in the groove 22 being formed on Lock Part 21.Therefore,, when tying up the groove 22 being formed under state on Lock Part 21 and be formed on guiding piece 18 on main part 17 while being non-connected state above-mentioned, disposal portion 6 keeps the above-mentioned state of tying up with respect to elongated member 2.

As shown in Figures 6 to 9, open and close and have with fastener 27: open and close with the first gear 23, it links and rotate around the axle identical with the first rotation axial region 13 with bar 5 with switching; Open and close with the second gear 24, it meshes and rotates around the axle identical with the second rotation axial region 14 with the first gear 23 with switching; Tooth bar 25, it links with the second gear 24 with switching; Link key element 26a, it links tooth bar 25 and pliers sheet 7a; And linking key element 26b, it links tooth bar 25 and pliers sheet 7b.

In addition, in the present embodiment, illustrate to make to open and close with the first gear 23 and open and close and by the engagement of gear, carry out the structure of CONTACT WITH FRICTION with the second gear 24, yet needn't be defined in the structure of carrying out CONTACT WITH FRICTION by the engagement of gear.For example, can adopt following mechanism: in this mechanism, as replaced the CONTACT WITH FRICTION based on gear engagement, make the gear of CONTACT WITH FRICTION mesh the structure etc. of non-existent 2 rubber rollers (frictional force is large) CONTACT WITH FRICTION, make mutually not slide between 2 rotary bodies and can rotary rolling.

Link

key element

26a, 26b shown in Fig. 6 are passed pull strength by tooth bar 25, and this pull strength is with the second gear 24, from opening and closing with bar 5, to transmit with the first gear 23 and switching through switching as shown in Figure 7.Link

key element

26a, 26b and the advance and retreat action of tooth bar 25 is converted to the on-off action of

pliers sheet

7a, 7b.

In the present embodiment, open and close by the link key element 25 of fastener 27 and form toggle mechanism (toggle mechanism), along with each

pliers sheet

7a, 7b move to the direction of closing, the hold of

pliers sheet

7a, 7b raises in the mode of exponential function.

Drive control part 45 shown in Fig. 1 has: actuator 46, it makes connecting rod 3(bending with bar 4 and bar 5 for opening and closing) on the lengthwise direction of elongated member 2, advance and retreat; With test section 47, it detects the actuating quantity of actuator 46.Drive control part 45 is according to moving from the driving signal of exporting from side control device 112.Test section 47 detects the actuating quantity of actuator 46 and is outputed to from side control device 112.Thus, the action of the actuator 46 in drive control part 45 is carried out to feedback control.

Below, with the operating principle of surgical instrument 1 with act as center the effect of the surgical instrument 1 of present embodiment and medical manipulator 100 is described.

Surgical instrument 1 is with two fasteners 11 with open and close with having linked on fastener 27 under the state of disposal portion 6 and elongated member 2 and use in bending.And surgical instrument 1 can also take off disposal portion 6 from elongated member 2, other disposal portion 6 is arranged in elongated member 2.For example, while can change different types of disposal portion 6, dispose, or the disposal portion 6 that produces action unfavorable condition etc. is replaced by other new disposal portion 6 continues to dispose.

Effect during first, to the use of surgical instrument 1 describes.

Can by the advance and retreat of bar 4, move to make bending to move with two fasteners 11 by the bending based on actuator 46.And, can by the advance and retreat of bar 5, move by the switching based on actuator 46, make switching be independent of bending with fastener 27 and move with two fasteners 11.

Here, bending is described with the effect of two fasteners 11.

Mobile and make crookedly by bar 4 advance and retreat when mobile when not making to open and close by bar 5 advance and retreat, as shown in Figures 3 to 5, the second rotation axial region 14 is usingd the first rotation axial region 13 and is rotated action as center of rotation.Now, due to the second chimeric tooth portion 15 be arranged on crookedly with the first chimeric tooth portion 12 engagements on two fasteners 11, thereby the second chimeric tooth portion 15 usings the second rotation axial region 14 and rotates as center of rotation.At the second rotation axial region 14, using when the first rotation axial region 13 is rotated action as center of rotation, the second chimeric tooth portion 15 rotates around the second rotation axial region 14, and a pair of pliers sheet 7a in disposal portion 6, the direction of 7b change thus.And now, a pair of

pliers sheet

7a, 7b do not carry out on-off action.

In this case, in bending, with in two fasteners 11, main part 17 moves with the angle corresponding to ratio of the radius of the radius with the first chimeric tooth portion 12 and the second chimeric tooth portion 15.

For example, the rotational angle that the rotational angle that be r1 when establishing the radius of the first chimeric tooth portion 12, the radius of establishing the second chimeric tooth portion 15 is r2, establish main part 17 is θ, establish disposal portion 6 is

time,

For example, as in the present embodiment, the ratio of the radius r 2 of the radius r 1 of the first chimeric tooth portion 12 and the second chimeric tooth portion 15 is (r1=r2) in the situation of 1 ﹕ 1, obtains:

Therefore,, if make main part 17 rotate 45 degree centered by the first rotation axial region 13, the second chimeric tooth portion 15 that is arranged on disposal portion 6 sides is with respect to the first chimeric tooth portion 12 90 degree that tilt.That is to say, owing to being speed increasing mechanism, thereby can make the angular misalignment momentum of main part 17 with respect to the angular misalignment momentum minimizing of the disposal portion 6 as target.

Below, the effect of the situation with respect to elongated member 2 dismounting disposal portions 6 is described.

Figure 10 to Figure 14 is for the axonometric chart of the dismounting action of disposal portion 6 is described.

Needs by disposal portion 6 from elongated member 2 is taken off in the situation that, by Lock Part 21 is rotated relatively with respect to main part 17, by being formed on the groove 22 on Lock Part 21 and the guiding piece 18 being formed on main part 17, from non-connected state (with reference to Figure 10), change to connected state (with reference to Figure 11).This for example can, by flathead screwdriver being inserted in the groove 22 being formed on Lock Part 22 and twist-lock parts 21, easily carry out.

Groove on being formed on Lock Part 21 22 and when being formed on guiding piece 18 on main part 17 and becoming connected state, can make endless member 19 from the second rotation axial region 14 sides by the groove 22 of Lock Part 21 to the first rotation axial region 13 side shiftings.As shown in figure 12, when making endless member 19, operator carried out when mobile to the first rotation axial region 13 sides, second rotates the disengagement of tying up of axial region 14 and main part 17, and as shown in Figure 13 and Figure 14, second rotates axial region 14 and throw off from main part 17 with the disposal portion 6 that the second rotation axial region 14 links.

In addition, in the present embodiment, no matter the two fasteners 11 of crooked use are in which kind of case of bending, and no matter open and close use fastener 27 in which kind of open and-shut mode, can both take off disposal portion 6 from elongated member 2.

Afterwards, other disposal portion 6 can be installed, or clean the disposal portion 6 of taking off and again install.

When disposal portion 6 is installed in elongated member 2, so that 15 engagements of the first chimeric tooth portion of chimeric tooth portion 12 and second, open and close with the first gear 23 and open and close by the mode that the second gear 24 meshes disposal portion 6 is positioned, make main part 17 and second rotate axial region 14 and engage, and by endless member 19, the second rotation axial region 14 and main part 17 are tied up.Afterwards, make Lock Part 21 with respect to main part 17 rotations, making to be formed on the groove 22 on Lock Part 21 and the guiding piece 18 being formed on main part 17 becomes non-connected state.

Thus, can use the disposal portion 6 being arranged in elongated member 2.

As described above, according to the surgical instrument 1 of present embodiment and medical manipulator 100, owing to utilizing endless member 19 that main part 17 and second is rotated to axial region 14, tie up, thereby can be with simple structure with respect to elongated member 2 dismounting disposal portions 6.

And, according to the surgical instrument 1 of present embodiment and medical manipulator 100, compare with the technology that patent documentation 1 is recorded, in order to make the dismantled and assembled and negligible amounts of the parts that increase of disposal portion 6.

And, the dismounting of disposal portion 6 and elongated member 2 is by carrying out with separated at the first rotation axial region 13 and the second installation of rotating between axial region 14, thereby can the dismounting for disposal portion 6 by the parts of the joint component of the direction with respect to elongated member 2 change disposal portions 6.Therefore, in the surgical instrument and medical manipulator 100 of present embodiment, the structure with respect to not removable in disposal portion 6 in the situation that and the negligible amounts of the parts that increase.

(variation 1)

Below, modified embodiment of the present embodiment is described.Figure 15 is the axonometric chart that the structure of this variation is shown.Figure 16 is for the axonometric chart of the effect of this variation is described.

As shown in figure 15, in this variation, it is removable structures that replacement main part 17 and second rotates axial region 14, and main part 17 is separable is amphi position side component 17A and proximal side parts 17B.

As shown in Figure 15 and Figure 16, on amphi position side component 17A, be formed with the claw 48 engaging with proximal side parts 17B.On proximal side parts 17B, be formed with the recess 49 that the claw 48 for amphi position side component 17A enters.Use claw 48 and recess 49, similarly form with the engaging portion 16 of explanation in the above-described embodiment the engaging portion 16 that makes the first rotation axial region 13 and disposal portion 6 become engaging state.

The recess 49 of proximal side parts 17B is pressed into the claw 48 of amphi position side component 17A, proximal side parts 17B and amphi position side component 17A strain a little thus, claw 48 enters in recess 49.Thus, disposal portion 6 is engaged to elongated member 2.

Even such structure, also obtains the effect identical with above-mentioned embodiment.

And, in this variation, to compare with above-mentioned embodiment, number of components is still less.

In addition, in the embodiment that comprises above-mentioned variation, as the action for the treatment of apparatus sheet, so that the action opening and closing as pliers sheet 7a, the 7b of a pair for the treatment of apparatus sheet is that example is described, yet be not limited to this.For example, can be also the action that makes a treatment apparatus bending tablet (rotation).And treatment apparatus sheet can be also the medical apparatus beyond pliers sheet.

(variation 2)

Below, another variation of present embodiment is described.Figure 17 is the axonometric chart that the structure of this variation is shown.Figure 18 is for the sectional view of the structure of this variation is described.

As shown in Figure 17 and Figure 18, in this variation, replace the disposal portion 6 with

pliers sheet

7a, 7b, arrange and there is the disposal portion 6 as the electrode 50 of electric knife.

And, in elongated member 2, be provided with the wire 51 being electrically connected to the electrode 50 of electric knife.Wire 51 with electrode 50 via wire 51 is connected with the plug 52 that electrode 50 links removably.In addition, the disposal portion 6 of this variation, without being connected with fastener 27 with switching, opens and closes with fastener 27 without having.And, in this variation, also can not have and open and close with fastener 27 and open and close with bar 5.

Above, with reference to accompanying drawing, embodiments of the present invention have been made to detailed description, yet concrete structure is not limited to this embodiment.

For example, can adopt do not have above-mentioned second rotate axial region and in the first rotation axial region crooked disposal portion.

And the present invention also comprises the design alteration of the scope that does not depart from aim of the present invention etc.

Availability in industry

The present invention can be used as surgical instrument and medical manipulator.And the available field of the present invention is not limited to medical field.

Label declaration

1: surgical instrument; 2: elongated member; 3: connecting rod; 4: bending bar; 5: switching bar; 6: disposal portion; 7a, 7b: pliers sheet; 8: lid; 9: shaft like parts; 10: linking part; 11: crooked with two fasteners; 12: the first chimeric tooth portions (the first rolling guide portion); Within 13: the 1, rotate axial region; Rotate axial region at 14: the second; 15: the second chimeric tooth portion (rolling guide portion; The second rolling guide portion); 16: engaging portion; 17: main part; 17A: amphi position side component; 17B: proximal side parts; 18: guiding piece; 19: endless member; 20: projection; 21: Lock Part; 22: groove; 23: open and close with the first gear (the first rolling guide portion); 24: open and close by the second gear (rolling guide portion; The second rolling guide portion); 25: tooth bar; 26a, 26b: link key element; 27: switching fastener; 45: drive control part; 46: actuator; 47: test section; 48: claw; 49: recess; 50: electrode; 51: wire; 52: plug; 100: medical manipulator; 101: master manipulator; 102: main display part; 103: operating portion; 110: control device; 111: master control device; 112: from side control device; 120: from mechanical hand; 121: from arm.

Claims

1. a surgical instrument, described surgical instrument is disposed disposing object position, it is characterized in that, and described surgical instrument has:

The elongated member of tubular, it has length axle;

Disposal portion, itself and described elongated member link; And

Linking part, it links described elongated member and described disposal portion removably,

Described linking part has:

First rotates axial region, and it is arranged in described elongated member;

Second rotates axial region, and it is arranged in described disposal portion;

The first rolling guide portion, its be arranged in described elongated member and be equipped with described first rotate the circular-arc part that axial region has center on coaxial;

The second rolling guide portion, it has rolling guide portion, described rolling guide portion be arranged in described disposal portion and be equipped with described second rotate the circular-arc part that axial region has center on coaxial, this rolling guide portion contacts with described the first rolling guide portion rolling; And

Engaging portion, it makes described the first rotation axial region and described second rotate axial region in engaging state,

Described linking part rotates axial region and described second described first and rotates between axial region by dismounting.

2. surgical instrument according to claim 1, is characterized in that, described engaging portion has:

Main part, it is connected with described the first rotation axial region, and can engage with described the second rotation axial region;

Endless member, itself and described main part split arrange, and described main part and described second is rotated to axial region and tie up; And

Lock Part, it is configured in and described main part and described second is rotated to the state of tying up of the position that axial region ties up and described endless member is configured in from described main part and described second being rotated to the open state of the position of the position deviation that axial region ties up for switching described endless member.

3. surgical instrument according to claim 2, is characterized in that,

Described main part has groove, and described groove engages with described endless member, stipulates the moving direction of described endless member,

Described Lock Part has a part for described groove, can relatively move with respect to described main part,

Groove on being arranged on described Lock Part and being arranged on when groove on described main part is connected state, can carry out described open state and described in tie up state switching, when being arranged on the groove on described Lock Part under state and being arranged on groove on described main part while being non-connected state described tying up, described in being maintained at respect to described elongated member, described disposal portion ties up state.

4. according to the surgical instrument described in claim 2 or 3, it is characterized in that, described surgical instrument also has:

The treatment apparatus sheet that can move, it is arranged in described disposal portion;

Treatment apparatus sheet action fastener, it links described elongated member and described treatment apparatus sheet; And

Moving-member, itself and the action of described treatment apparatus sheet link with fastener, for operating described treatment apparatus sheet,

Described treatment apparatus sheet action has with fastener:

Action the first rotatable parts, itself and described moving-member link and rotate around the center of rotation of regulation;

Action the second rotatable parts, itself and described action link with the first rotatable parts, this action is usingd with described second to rotate axial region coaxial or rotate axial region and compare the position close to more from described rotation axial region and, as center of rotation, rewind and carry out relative rotation with the first rotatable parts with described action with described second with the second rotatable parts;

Connecting piece, it converts described action to the action of described treatment apparatus sheet with the revolving force of the second rotatable parts,

The action of described treatment apparatus sheet with fastener by the dismounting in described linking part, described action with the first rotatable parts and described action with the second rotatable parts between by dismounting.

5. surgical instrument according to claim 4, is characterized in that,

Have a pair of described treatment apparatus sheet, the action of described treatment apparatus sheet is the switching of described a pair for the treatment of apparatus sheet.

6. a medical manipulator, described medical manipulator has:

Surgical instrument in claim 1 to 5 described in any one;

From mechanical hand, it is provided with described surgical instrument and has at least 1 joint;

Master manipulator, it sends for driving the operational order in the described described joint from mechanical hand.